[6] LI M C, GUO C, YU H M. Filtered extended state observer based line-of-sight guidance for path following of unmanned surface vehicles with unknown dynamics and disturbances[J]. IEEE Access, 7, 178401-178412(2019).

[7] [7] SUN N, REN G, LIU H T. FESObased lineofsight guidance law f path following of unmanned surface vehicles with environmental disturbances[C]Proceedings of 2021 China Automation Congress (CAC). Beijing: IEEE, 2021: 6583−6588.

[9] GONZALEZ-GARCIA A, CASTAÑEDA H. Guidance and control based on adaptive sliding mode strategy for a USV subject to uncertainties[J]. IEEE Journal of Oceanic Engineering, 46, 1144-1154(2021).

[10] ZHENG Y M, TAO J, HARTIKAINEN J et al. DDPG based LADRC trajectory tracking control for underactuated unmanned ship under environmental disturbances[J]. Ocean Engineering, 271, 113667(2023).

[11] DU Z, NEGENBORN R R, REPPA V. Review of floating object manipulation by autonomous multi-vessel systems[J]. Annual Reviews in Control, 55, 255-278(2023).

[12] CHEN L Y, HOPMAN H, NEGENBORN R R. Distributed model predictive control for cooperative floating object transport with multi-vessel systems[J]. Ocean Engineering, 191, 106515(2019).

[13] DU Z, NEGENBORN R R, REPPA V. Cooperative multi-agent control for autonomous ship towing under environmental disturbances[J]. IEEE/CAA Journal of Automatica Sinica, 8, 1365-1379(2021).

[14] DU Z, REPPA V, NEGENBORN R R. Cooperative control of autonomous tugs for ship towing[J]. IFAC-PapersOnLine, 53, 14470-14475(2020).

[15] [15] HAJIEGHRARY H, KULARATNE D, ANI HSIEH M. Differential geometric approach to trajecty planning: cooperative transpt by a team of autonomous marine vehicles[C]Proceedings of 2018 Annual American Control Conference (ACC). Milwaukee: IEEE, 2018: 858–863.

[16] [16] HAJIEGHRARY H, KULARATNE D, ANI HSIEH M. Cooperative transpt of a buoyant load: a differential geometric approach[C]Proceedings of 2017 IEEERSJ International Conference on Intelligent Robots Systems (IROS). Vancouver: IEEE, 2017: 2158–2163. doi: 10.1109IROS.2017.8206033.

[17] TAO J, DU L, DEHMER M et al. Path following control for towing system of cylindrical drilling platform in presence of disturbances and uncertainties[J]. ISA Transactions, 95, 185-193(2019).

[18] ZHENG Y M, TAO J, SUN Q L et al. An intelligent course keeping active disturbance rejection controller based on double deep Q-network for towing system of unpowered cylindrical drilling platform[J]. International Journal of Robust and Nonlinear Control, 31, 8463-8480(2021).

[19] ISMAIL M M, CHALHOUB N G, PILIPCHUK V. Dynamics and control of a two-ship ensemble connected by a massless towline[J]. Ocean Engineering, 234, 109295(2021).

[20] LEE D H, CHAKIR S, KIM Y B et al. Control system design for vessel towing system by activating rudders of the towed vessel[J]. International Journal of Naval Architecture and Ocean Engineering, 12, 943-956(2020).

[22] SANO M. Mathematical model and simulation of cooperative manoeuvres among a ship and tugboats[J]. Brodogradnja, 74, 127-148(2023).